diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index b7f00978b299f293d7c531228ec8e05ae58d4f1e..e1871be33d7c2a2b9003d67a2d501d3ce84c4c2e 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -812,17 +812,8 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
// Switch between fetching for the different controllers and from different locations
switch(controller_to_fetch_yaml)
{
- case FETCH_YAML_CUSTOM_CONTROLLER_COORDINATOR:
- {
- // Let the user know that this message was received
- ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
- // Create a node handle to the parameter service running on the coordinator machine
- ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_coordinator_parameter_service);
- // Call the function that fetches the parameters
- fetchYamlParameters(nodeHandle_to_coordinator_parameter_service);
- break;
- }
+ // > FOR FETCHING FROM THE AGENT'S OWN PARAMETER SERVICE
case FETCH_YAML_CUSTOM_CONTROLLER_AGENT:
{
// Let the user know that this message was received
@@ -834,6 +825,19 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
break;
}
+ // > FOR FETCHING FROM THE COORDINATOR'S PARAMETER SERVICE
+ case FETCH_YAML_CUSTOM_CONTROLLER_COORDINATOR:
+ {
+ // Let the user know that this message was received
+ ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
+ // Create a node handle to the parameter service running on the coordinator machine
+ ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
+ ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
+ // Call the function that fetches the parameters
+ fetchYamlParameters(nodeHandle_to_coordinator_parameter_service);
+ break;
+ }
+
default:
{
// Let the user know that the command was not relevant
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index f49e84f369dc0f6df045479b927bbe501d8caa66..6bfd449b908e1ec9aeeb2f93ac129e2b633c3e90 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -789,26 +789,30 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
// Switch between fetching for the different controllers and from different locations
switch(controller_to_fetch_yaml)
{
- case FETCH_YAML_SAFE_CONTROLLER_COORDINATOR:
+
+ // > FOR FETCHING FROM THE AGENT'S OWN PARAMETER SERVICE
+ case FETCH_YAML_SAFE_CONTROLLER_AGENT:
{
// Let the user know that this message was received
- // > and also from where the paramters are being fetched
- ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller. > Now fetching the parameter values from the coordinator.");
- // Create a node handle to the parameter service running on the coordinator machine
- ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_coordinator_parameter_service);
+ ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller. > Now fetching the parameter values from this machine.");
+ // Create a node handle to the parameter service running on this agent's machine
+ ros::NodeHandle nodeHandle_to_own_agent_parameter_service(namespace_to_own_agent_parameter_service);
// Call the function that fetches the parameters
- fetchYamlParametersForSafeController(nodeHandle_to_coordinator_parameter_service);
+ fetchYamlParametersForSafeController(nodeHandle_to_own_agent_parameter_service);
break;
}
- case FETCH_YAML_SAFE_CONTROLLER_AGENT:
+ // > FOR FETCHING FROM THE COORDINATOR'S PARAMETER SERVICE
+ case FETCH_YAML_SAFE_CONTROLLER_COORDINATOR:
{
// Let the user know that this message was received
- ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller. > Now fetching the parameter values from this machine.");
- // Create a node handle to the parameter service running on this agent's machine
- ros::NodeHandle nodeHandle_to_own_agent_parameter_service(namespace_to_own_agent_parameter_service);
+ // > and also from where the paramters are being fetched
+ ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller. > Now fetching the parameter values from the coordinator.");
+ // Create a node handle to the parameter service running on the coordinator machine
+ ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
+ ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
// Call the function that fetches the parameters
- fetchYamlParametersForSafeController(nodeHandle_to_own_agent_parameter_service);
+ fetchYamlParametersForSafeController(nodeHandle_to_coordinator_parameter_service);
break;
}
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index a9f60d67a8a65685046a05799315f78ce483e33b..4a4d63cbf7d222b8309dbd74b79db88e7df6be7f 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -383,17 +383,8 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
// Switch between fetching for the different controllers and from different locations
switch(controller_to_fetch_yaml)
{
- case FETCH_YAML_SAFE_CONTROLLER_COORDINATOR:
- {
- // Let the user know that this message was received
- ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
- // Create a node handle to the parameter service running on the coordinator machine
- ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_coordinator_parameter_service);
- // Call the function that fetches the parameters
- fetchYamlParameters(nodeHandle_to_coordinator_parameter_service);
- break;
- }
+ // > FOR FETCHING FROM THE AGENT'S OWN PARAMETER SERVICE
case FETCH_YAML_SAFE_CONTROLLER_AGENT:
{
// Let the user know that this message was received
@@ -405,6 +396,19 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
break;
}
+ // > FOR FETCHING FROM THE COORDINATOR'S PARAMETER SERVICE
+ case FETCH_YAML_SAFE_CONTROLLER_COORDINATOR:
+ {
+ // Let the user know that this message was received
+ ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
+ // Create a node handle to the parameter service running on the coordinator machine
+ ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
+ ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
+ // Call the function that fetches the parameters
+ fetchYamlParameters(nodeHandle_to_coordinator_parameter_service);
+ break;
+ }
+
default:
{
// Let the user know that the command was not relevant
@@ -630,7 +634,7 @@ int main(int argc, char* argv[]) {
// FINALLY, FETCH ANY PARAMETERS REQUIRED FROM THESE "PARAMETER SERVICES"
-
+
// Call the class function that loads the parameters for this class.
fetchYamlParameters(nodeHandle_to_own_agent_parameter_service);